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Gazebo is the simulator. The launch file turtlebot3_simulation.launch is designed to work within the simulation not in the real robot. turtlebot3_simulation.launch is a demo that will help you see a fully functioning system in the simulation.

For instructinos on how to bring up the TB3 please see: http://emanual.robotis.com/docs/en/platform/turtlebot3/bringup/#turtlebot3-waffle

There are other sections with instructions on how to setup navigation: http://emanual.robotis.com/docs/en/platform/turtlebot3/navigation/#perform-navigation

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